JP7276718B2 - Production line and production line manufacturing method - Google Patents

Description

The disclosed embodiments relate to production lines and methods of manufacturing production lines.

For example, in Patent Document 1, a first robot, a movable first cell provided with the first robot, a second robot, and a movable second cell provided with the second robot are described. A robotic system is described.

JP 2016-203348 A

The conventional robot system described above is used, for example, in a production line for producing products. High flexibility is demanded in such a production line.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a production line and a method of manufacturing the production line that can achieve high flexibility.

In order to solve the above problems, according to one aspect of the present invention, there is provided a production line configured by combining a plurality of cells to produce a product, wherein the plurality of cells performs a predetermined operation on parts. A production line comprising at least one first cell equipped with an automatic working machine that performs be done.

According to another aspect of the present invention, there is provided a production line configured by combining a plurality of cells to produce a product, wherein the plurality of cells comprise an automatic working machine that performs a predetermined operation on parts. and at least one second cell positioned adjacent to the first cell and capable of repairing or removing the part, wherein the first cell is connected to the automatic As the work machine, at least one dedicated work machine exclusively designed to perform the predetermined work, and the parts are placed between the pallet and the dedicated work machine, or between a plurality of the dedicated work machines. and at least one articulated robot having a plurality of joints for moving, and conveying the pallet on which the parts are placed in a first direction that is the conveying direction of the parts in the production line. and a plurality of stop positions for stopping the pallet transported by the first transport device for a predetermined stop time, each of which is assigned a predetermined work process executed by the dedicated work machine. A production line with 10 working stations is applied.

According to another aspect of the present invention, there is provided a manufacturing method for a production line configured by combining a plurality of cells for producing products, wherein a predetermined work is performed on parts based on the specifications of the production line. and at least one second cell capable of repairing or discharging said parts, if necessary adjacent to said first cell. A production line manufacturing method is applied, comprising:

According to another aspect of the present invention, there is provided a production line for producing a product, which is configured by combining a plurality of cells, and each of the plurality of cells has a pallet on which parts are placed. A production line having an automatic working machine for performing a predetermined operation on the parts is applied to at least one of the plurality of cells.

According to the production line and the like of the present invention, high flexibility can be realized.

It is an explanatory view showing an example of the appearance of a production line. FIG. 4 is an explanatory diagram showing an example of a flow of pallets in a production line and an example of a controller configuration; FIG. 11 is an explanatory diagram showing an example of an internal configuration of a third assembly cell; FIG. 11 is an explanatory diagram showing an example of the configuration of a positioning mechanism for a third assembly cell; FIG. 5 is an explanatory diagram showing an example of the internal configuration of a second component supply cell; FIG. 11 is an explanatory diagram showing an example of the operation of the second component supply cell; It is explanatory drawing showing an example of the manufacturing method of a production line. It is explanatory drawing showing the other example of the manufacturing method of a production line. FIG. 10 is an explanatory diagram showing still another example of the manufacturing method of the production line; FIG. 11 is an explanatory diagram showing an example of an internal configuration in a modified example in which a plurality of identical dedicated work machines are provided in the third assembly cell; FIG. 4 is an explanatory diagram showing a configuration example of hardware of a controller;

An embodiment will be described below with reference to the drawings. In the following description, directions such as up, down, left, right, front and back may be appropriately used for convenience of explanation of the configuration of the production line, etc., but the positional relationship of each configuration of the production line, etc. is not limited. In this embodiment, the rightward and leftward directions refer to the conveying direction of the work in the production line, the vertical direction refers to the vertical direction, and the front-rear direction refers to the direction perpendicular to both the lateral and vertical directions.

<1. Overall configuration of the production line>
First, an example of the overall configuration of a production line according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. FIG. 1 is an explanatory diagram showing an example of the appearance of a production line, and FIG. 2 is an explanatory diagram showing an example of a flow of pallets in the production line and an example of a controller configuration.

A production line 1 is a production line for producing a product by combining a plurality of parts while transporting the parts in the transport direction, and is configured by combining a plurality of cells as shown in FIG. Predetermined work contents are assigned to each cell. Each cell includes a housing that houses equipment and the like for performing assigned work, and a plurality of casters 2 provided at the bottom of the housing, and is configured to be movable. An adjuster is provided at the caster 2 or at a location different from the caster 2, and height adjustment such as leveling is possible.

In this embodiment, as an example of a product, a case of producing a motor control device, for example, will be described. The production line 1 includes a connection cell 3, a first component supply cell 5, a connection cell 7, a first assembly cell 9, a connection cell 11, a connection cell 7, a first assembly cell 9, a connection cell 11, a connection cell 3, a first component supply cell 5, a connection cell 7, a first assembly cell 9, and a second assembly cell 13, connection cell 15, second component supply cell 17, connection cell 19, third assembly cell 21, connection cell 23, third component supply cell 25, connection cell 27, fourth assembly cell 29, and It has a plurality of cells arranged in the order of the connected cells 31 .

The connection cell 3 (an example of the second cell) is arranged adjacent to the upstream side of the first component supply cell 5 and arranged on the most upstream side of the production line 1 . The connection cell 3 is a cell for connecting the preceding process of the production line 1 and the production line 1 , in other words, a cell functioning as an inlet of the production line 1 . An opening 3B is provided on the front side of the housing 3A of the connection cell 3, so that maintenance work or the like can be performed from the front. In addition, the connection cell 3 has an access space 3S (an example of an access portion) for accessing the first pallet 33 so that a worker can perform at least one of repairing and discharging parts at the rear of the housing 3A. have. As shown in FIG. 2, a conveyer 3C (an example of a third conveying device) and a lifting mechanism 32 are provided inside the connecting cell 3, and the conveyer 3C moves up and down. An elevating mechanism 32 (an example of a moving mechanism) moves the conveyer 3C between a position corresponding to a first conveyer 5Ca and a position corresponding to a second conveyer 5Cb of the first component supply cell 5, which will be described later. In the connection cell 3, the empty first pallet 33 returned from the downstream side is moved upward by the transport conveyor 3C. The first pallet 33 has an uneven shape and positioning members (not shown) for positioning each part, and is a member on which parts W1, W2, etc., which will be described later, are positioned and placed at predetermined positions. A part W1 (simply indicated as "W" in FIG. 2) carried from the previous process is placed on the first pallet 33 by the operator, and the first pallet 33 is transported by the transport conveyor 3C to the next first part supply cell 5. transported to The component W1 is, for example, a control board or the like. When placing the parts W1 on the first pallet 33, the operator can inspect the parts W1 and repair or remove the parts W1 if there is a problem. The connection cell 3 includes a controller 35 that controls the devices in the connection cell 3, and the controller 35 controls a servo motor (not shown) that drives the conveyer 3C.

An automatic working machine may be installed in the connection cell 3 and the parts W1 may be moved to the first pallet 33 by the automatic working machine. In this specification, the term "automatic work machine" refers to a robot that is vertically articulated or horizontally articulated, or a robot that is designed exclusively for a specific work and has an actuator that can move in at least one of the XYZθ directions. It includes a dedicated work machine. In the above description, the access space 3S is provided outside (rear) of the housing 3A. good.

The first component supply cell 5 (an example of a first cell and a third cell) is arranged downstream and adjacent to the connection cell 3, and is a cell for supplying the component W2 (an example of a predetermined work). be. A window portion 5B is provided on the front side of the housing 5A of the first component supply cell 5 so that the state of the inside can be confirmed from the front. As shown in FIG. 2, a conveyor 5C (an example of a conveying device) is installed inside the first component supply cell 5 in two upper and lower stages. ) conveys the first pallet 33 carrying the parts W1, W2, etc. (simply indicated as “W” in FIG. 2) to the downstream side (to the right, which is the conveying direction; an example of the first direction), and the second conveying in the lower stage The empty first pallet 33 is conveyed upstream (to the left, which is the direction opposite to the conveying direction; an example of the second direction) by the conveyor 5Cb (an example of the second conveying device).

As shown in FIG. 1, the first parts supply cell 5 includes a receiving port 39 for receiving a parts container 37 containing a part W2 from the automatic guided vehicle 43, and an empty parts container 37 to the automatic guided vehicle 43. A discharge port 40 for discharge is provided on the front side. In this embodiment, the component containers 37 are conveyed by the automatic guided vehicle 43 in a state of being stacked in two stages, for example, and are supplied to and discharged from the first component supply cell 5 . The reception port 39 is arranged upstream of the discharge port 40 in the moving direction of the automatic guided vehicle 43 . In the example shown in FIG. 1 , the moving direction of the automatic guided vehicle 43 is rightward in the horizontal direction (indicated by arrow 42 in the drawing), so the inlet 39 is arranged on the left side of the outlet 40 . The automatic guided vehicle 43 includes a conveyor 44 capable of conveying the component container 37 in a direction perpendicular to the movement direction 42 (in this example, the front-rear direction). A loading conveyor 41L is provided at the receiving port 39, and receives the component container 37 conveyed by the conveyor 44 of the automatic guided vehicle 43 and conveys it into the cell. An automatic working machine (not shown) is installed inside the first parts supply cell 5 , and the automatic working machine moves the parts W<b>2 accommodated in the parts container 37 to the first pallet 33 . The component W2 is, for example, a heat sink, a substrate cover, or the like. The first pallet 33 carrying the parts W1, W2, etc., is conveyed to the next connecting cell 7 by the first conveyer 5Ca. A carry-out conveyor 41 R is provided at the discharge port 40 to discharge the empty parts container 37 to the conveyor 44 of the automatic guided vehicle 43 . In this way, the automatic guided vehicle 43 moves to the receiving port 39 of the first component supply cell 5, supplies the component container 37 containing the component W2 to the receiving port 39, then moves to the discharge port 40, An empty component container 37 is received from the outlet 40 and then moved to a predetermined location.

As shown in FIG. 2, the first component supply cell 5 is provided with a controller 47 that controls the devices in the first component supply cell 5, and servo motors (not shown) that drive the conveyors 5Ca and 5Cb. ) and automatic working machines are controlled by the controller 47 . A camera, a sensor, etc. (not shown) are installed in the first component supply cell 5 to detect whether the supply work has been performed properly. It is diagnosed whether or not it is defective, and if it is diagnosed as defective, it is notified by not-shown notification means (touch panel, alarm device, etc.).

The parts container 37 may be transported by an operator using a trolley, for example. Further, the component containers 37 may be transported in a single stack, or may be transported in a stack of three or more.

The connection cell 7 (an example of the second cell) is arranged downstream and adjacent to the first component supply cell 5 and is a cell for connecting the first component supply cell 5 and the first assembly cell 9 . be. The connection cell 7 is located behind the housing 7C between the first parts supply cell 5 and the first assembly cell 9, and is attached to the first pallet 33 so that the operator can perform at least one of repairing and discharging parts. It has an access space 7S (an example of an access part) for accessing. As shown in FIG. 2, a conveyer 7A (an example of a conveying device) is installed in two stages, upper and lower, inside the connection cell 7. A first conveyer 7Aa in the upper stage conveys components W1, W2, etc., to the second conveyer 7A. One pallet 33 is conveyed downstream, and an empty first pallet 33 is conveyed upstream by the lower second conveyor 7Ab. In the connection cell 7, when the notification means of the first component supply cell 5 reports that the supply work is defective, the worker replaces the component W2 on the first pallet 33 and repairs it (or repairs the component W2). ), and if repair is impossible, the defective first pallet 33 or part W2 is discharged from the production line. Even if the notification is not given, the operator checks whether the parts W2 are properly supplied to the first pallet 33 in the first part supply cell 5 on the upstream side, and if the supply fails, may be repaired or discharged. The first pallet 33 carrying the parts W1, W2, etc. is conveyed to the next first assembly cell 9 by the first conveyer 7Aa. As shown in FIG. 2, the connection cell 7 includes a controller 49 that controls the devices in the connection cell 7. The controller 49 controls the servo motors (not shown) that drive the conveyors 7Aa and 7Ab. be done.

In addition, in the connection cell 7, in addition to the above-described parts repair and discharge work, maintenance work and work that is difficult with an automatic work machine (for example, wiring routing, complicated assembly work, etc.) can be performed manually by the operator. good. Alternatively, an automatic working machine may be installed in the connection cell 7 to perform the above-described work and the like by the automatic working machine. In the above description, the access space 7S is provided outside (rear) of the housing 7C. good.

A first assembly cell 9 (an example of a first cell) is arranged downstream and adjacent to the connection cell 7, and is a cell for performing assembly work (an example of a predetermined work) on the parts W1 and W2. is. A window portion 9B is provided on the front side of the housing 9A of the first assembly cell 9, so that the state of the inside can be confirmed from the front. As shown in FIG. 2, a conveyor 9C (an example of a conveying device) is installed inside the first assembly cell 9 in two upper and lower stages. The first pallet 33 carrying the assembled parts W1, W2, etc. (simply indicated as "W" in FIG. 2) is conveyed downstream, and is conveyed downstream by the lower second conveyer 9Cb (an example of a second conveying device). An empty first pallet 33 is conveyed upstream. A robot (not shown) and dedicated work machines (not shown) for performing various operations are installed inside the first assembly cell 9. move between The contents of the work performed by the dedicated work machine of the first assembly cell 9 are, for example, application of compound, placement of the control board on the heat sink, screw tightening of the control board, and the like. The first pallet 33 on which the assembled parts W1, W2, etc. are placed is transported to the next connecting cell 11 by the first transport conveyor 9Ca.

As shown in FIG. 2, the first assembly cell 9 is provided with a controller 53 that controls the equipment in the first assembly cell 9, and includes servo motors (not shown) that drive the conveyors 9Ca and 9Cb, A controller 53 controls a robot, a dedicated work machine, and the like. In the first assembly cell 9, a camera, a sensor, etc., not shown, are installed to detect whether or not the assembly work has been performed properly. It is diagnosed whether or not there is, and if it is diagnosed as defective, it is notified by not-shown notification means (touch panel, alarm device, etc.).

The connection cell 11 (an example of the second cell) is arranged downstream and adjacent to the first assembly cell 9 and is a cell for connecting the first assembly cell 9 and the second assembly cell 13 . The connecting cell 11 is located behind the housing 11C between the first assembling cell 9 and the second assembling cell 13, and accesses the first pallet 33 so that the operator can perform at least one of repairing and discharging parts. It has an access space 11S (an example of an access section) for As shown in FIG. 2, a conveyer 11A (an example of a conveying device) is installed in two upper and lower stages inside the connection cell 11, and parts W1, W2, etc. assembled by the upper first conveyer 11Aa are transferred. The loaded first pallet 33 is conveyed downstream, and the empty first pallet 33 is conveyed upstream by the second conveyer 11Ab in the lower stage. In the connection cell 11, when the notification means of the first assembly cell 9 reports a defect in the assembly work, the worker repairs it, or if the repair is not possible, the defective part is discharged from the production line. . Even if the notification is not given, the operator checks whether the assembly work for the parts W1 and W2 has been properly executed in the first assembly cell 9 on the upstream side, and if the work has failed, Repair or discharge may be performed. The first pallet 33 carrying the assembled parts W1, W2, etc. is conveyed to the next second assembly cell 13 by the first conveyer 11Aa. As shown in FIG. 2, the connection cell 11 includes a controller 55 that controls the devices in the connection cell 11. The controller 55 controls servo motors (not shown) that drive the conveyors 11Aa and 11Ab. be done.

In addition, in the connection cell 11, in addition to the above-described parts repair and discharge work, maintenance work and work that is difficult with an automatic work machine (for example, wiring routing, complicated assembly work, etc.) can be performed manually by the operator. good. Alternatively, an automatic working machine may be installed in the connection cell 11 to perform the above-described work and the like by the automatic working machine. In the above description, the access space 11S is provided outside (backward) of the housing 11C. good.

A second assembly cell 13 (an example of a first cell) is arranged downstream and adjacent to the connection cell 11, and is used for further assembly work (an example of a predetermined work) on the parts W1 and W2. cell. A window portion 13B is provided on the front side of the housing 13A of the second assembly cell 13, so that the state of the inside can be confirmed from the front. As shown in FIG. 2, inside the second assembly cell 13, a conveyor 13C (an example of a conveying device) is installed in two upper and lower stages. The first pallet 33 carrying the assembled parts W1, W2, etc. (simply indicated as "W" in FIG. 2) is conveyed downstream, and is conveyed downstream by the lower second conveyer 13Cb (an example of a second conveying device). An empty first pallet 33 is conveyed upstream. Inside the second assembly cell 13, a robot (not shown) and dedicated work machines (not shown) for performing various operations are installed. move between The contents of the work performed by the dedicated working machine of the second assembly cell 13 include, for example, screw tightening of the control board, printing on the board cover, fitting of the board cover, and the like. The first pallet 33 on which the assembled parts W1, W2, etc. are placed is transported to the next connection cell 15 by the transport conveyor 13C. In the following, the parts W1 and W2 assembled in the second assembly cell 13 are also referred to as "first semi-finished product W3".

As shown in FIG. 2, the second assembly cell 13 is provided with a controller 57 that controls the equipment in the second assembly cell 13 in an integrated manner. A controller 57 controls a robot, a dedicated work machine, and the like. A camera, a sensor, etc., not shown, are installed in the second assembly cell 13 to detect whether or not the assembly work has been performed properly. It is diagnosed whether or not there is, and if it is diagnosed as defective, it is notified by not-shown notification means (touch panel, alarm device, etc.).

The connection cell 15 (an example of the second cell) is arranged downstream and adjacent to the second assembly cell 13, and is a cell for connecting the second assembly cell 13 and the second component supply cell 17. . The connection cell 15 is located behind the housing 15A between the second assembly cell 13 and the second parts supply cell 17, and is attached to the first pallet 33 so that the operator can perform at least one of repairing and discharging parts. It has an access space 15S (an example of an access part) for accessing. An opening 15B is provided on the front side of the housing 15A of the connection cell 15, so that maintenance work or the like can be performed from the front. As shown in FIG. 2, inside the connection cell 15, a conveyor 15C (an example of a conveying device) is installed in two upper and lower stages, and a conveyer 15D (an example of a third conveying device) and an elevating mechanism 46 are provided. The transport conveyor 15D moves up and down in the vertical direction. A lifting mechanism 46 (an example of a moving mechanism) moves the conveyor 15D between a position corresponding to the first conveyor 13Ca of the second assembly cell 13 and a position corresponding to the second conveyor 13Cb. In the connection cell 15, the first pallet 33 carrying the first semi-finished product W3 is conveyed to a predetermined position by the upper first conveyor 15Ca, and the first semi-finished product W3 is taken out from the first pallet 33 by the automatic working machine. be The empty first pallet 33 is moved downward by the conveyer 15D and conveyed upstream by the lower second conveyer 15Cb. In this manner, the first pallet 33 circulates among the connection cell 3, the first parts supply cell 5, the connection cell 7, the first assembly cell 9, the connection cell 11, the second assembly cell 13, and the connection cell 15. do.

On the other hand, in the connection cell 15, the empty second pallet 59 returned from the downstream side is moved upward by the transport conveyor 15D. The second pallet 59 has an uneven shape and positioning members (not shown) for positioning each part, and the first semi-finished product W3 and the part W4 described later are positioned and placed at predetermined positions. It is a member. The above-described automatic working machine places the first semi-finished product W3 taken out from the first pallet 33 on the second pallet 59 . In this manner, the first semi-finished product W3 is replaced from the first pallet 33 to the second pallet 59. FIG. In addition, the transport conveyor 15D carries the first empty pallet 33 when moving downward, and carries the second empty pallet 59 when moving upward. 59 is alternately raised and lowered.

In the connection cell 15, when the notification means of the second assembly cell 13 notifies of a defect in the assembly work, the worker repairs the first semi-finished product W3, or if the repair is not possible, the defective product W3 is repaired. is discharged from the production line. Even if the notification is not given, the worker checks whether the assembly work of the first semi-finished product W3 has been properly executed in the second assembly cell 13 on the upstream side, and if the work has failed, may be repaired or discharged. The second pallet 59 carrying the assembled first semi-finished product W3 is transported to the next second component supply cell 17 by the transport conveyor 15D. As shown in FIG. 2, the connection cell 15 is provided with a controller 61 that controls the devices in the connection cell 15 in an integrated manner. The working machine is controlled by a controller 61 .

In addition, in the connection cell 15, in addition to the above-described parts repair and discharge work, maintenance work and work that is difficult with an automatic work machine (for example, wiring routing, complicated assembly work, etc.) can be performed manually by the operator. good. Moreover, you may perform the said work etc. with an automatic working machine. In the above description, the access space 15S is provided outside (rear) of the housing 15A. good.

The second component supply cell 17 (an example of a first cell and a third cell) is arranged downstream and adjacent to the connection cell 15, and is a cell for supplying the component W4 (an example of a predetermined work). be. A window portion 17B is provided on the front side of the housing 17A of the second component supply cell 17, so that the state of the inside can be confirmed from the front. As shown in FIG. 2, inside the second component supply cell 17, a conveyor 17C (an example of a conveying device) is installed in two upper and lower stages. ) conveys the second pallet 59 on which the first semi-finished product W3 and the parts W4, etc. (simply indicated as “W” in FIG. 2) are placed downstream, and the lower second conveyer 17Cb (an example of a second conveying device) is conveyed downstream. ) conveys the empty second pallet 59 upstream.

As shown in FIG. 1, the second parts supply cell 17 includes a receiving port 63 for receiving a parts container 37 containing a part W4 from the automatic guided vehicle 43 and an empty parts container 37 to the automatic guided vehicle 43. A discharge port 64 for discharge is provided on the front side. The receiving port 63 is arranged on the left side, which is upstream of the discharging port 64 in the moving direction of the automatic guided vehicle 43 (indicated by the arrow 42 in the drawing). A loading conveyor 65L is provided at the receiving port 63, and receives the component container 37 conveyed by the conveyor 44 of the automatic guided vehicle 43 and conveys it into the cell. An automatic working machine (see FIG. 4 described later) is installed inside the second parts supply cell 17 , and the automatic working machine moves the parts W<b>4 accommodated in the parts container 37 to the second pallet 59 . The component W4 is, for example, an interface board, an interface cover, or the like. The second pallet 59 on which the first half-finished product W3 and parts W4, etc. are placed is conveyed to the next connecting cell 19 by the first conveyer 17Ca. A carry-out conveyor 65</b>R is provided at the discharge port 64 to discharge the empty parts container 37 to the conveyor 44 of the automatic guided vehicle 43 . In this way, the automatic guided vehicle 43 moves to the receiving port 63 of the second component supply cell 17, supplies the component container 37 containing the component W4 to the receiving port 63, then moves to the discharging port 64, An empty component container 37 is received from the outlet 64 and then moved to a predetermined location.

As shown in FIG. 2, the second component supply cell 17 is provided with a controller 67 that controls the devices in the second component supply cell 17, and servo motors (not shown) that drive the conveyors 17Ca and 17Cb. ) and automatic working machines are controlled by the controller 67 . In addition, a camera, a sensor, etc., not shown, are installed in the second component supply cell 17 to detect whether or not the supply work has been performed properly. It is diagnosed whether or not it is defective, and if it is diagnosed as defective, it is notified by not-shown notification means (touch panel, alarm device, etc.).

Note that the parts container 37 may be transported, for example, by an operator using a trolley. Further, the component containers 37 may be transported in a single stack, or may be transported in a stack of three or more.

The connection cell 19 (an example of the second cell) is arranged downstream and adjacent to the second component supply cell 17 and is a cell for connecting the second component supply cell 17 and the third assembly cell 21 . be. The connection cell 19 is located behind the housing 19C between the second parts supply cell 17 and the third assembly cell 21, and is attached to the second pallet 59 so that the operator can perform at least one of repairing and discharging parts. It has an access space 19S (an example of an access part) for accessing. As shown in FIG. 2, inside the connection cell 19, a conveyor 19A (an example of a conveyor) is installed in two stages, upper and lower. The second pallet 59 loaded with the paper is conveyed downstream, and the empty second pallet 59 is conveyed upstream by the lower second conveyor 19Ab. In the connection cell 19, when the notification means of the second component supply cell 17 notifies of a defective supply operation, the operator replaces the component W4 on the second pallet 59 and repairs it (or repairs the component W4). ), and if repair is impossible, the defective second pallet 59 or part W4 is discharged from the production line. Even if the notification is not made, the operator checks whether the component W4 is properly supplied to the second pallet 59 in the second component supply cell 17 on the upstream side, and if the supply fails, may be repaired or discharged. The second pallet 59 on which the first half-finished product W3 and parts W4, etc. are placed is transferred to the next third assembly cell 21 by the first transfer conveyor 19Aa. As shown in FIG. 2, the connection cell 19 includes a controller 69 that controls the devices in the connection cell 19. The controller 69 controls servo motors (not shown) that drive the conveyors 19Aa and 19Ab. be done.

In addition, in the connection cell 19, in addition to the above-described parts repair and discharge work, maintenance work and work that is difficult with an automatic work machine (for example, wiring routing, complicated assembly work, etc.) can be performed manually by the operator. good. Alternatively, an automatic working machine may be installed in the connection cell 15 to perform the above-described work and the like by the automatic working machine. In the above description, the access space 19S is provided outside (rear) of the housing 19C. good.

A third assembly cell 21 (an example of a first cell) is arranged downstream and adjacent to the connection cell 19, and performs an assembly operation (an example of a predetermined operation) on the first semi-finished product W3 and the part W4. It is a cell for doing. A window portion 21B is provided on the front side of the housing 21A of the third assembly cell 21, so that the state of the inside can be confirmed from the front. As shown in FIG. 2, inside the third assembly cell 21, a conveyor 21C (an example of a conveying device) is installed in two upper and lower stages. The second pallet 59 carrying the assembled first semi-finished product W3, parts W4, etc. (shown simply as "W" in FIG. 2) is conveyed downstream, and is transferred to the lower second conveyer 21Cb (second conveying device (example), the empty second pallet 59 is conveyed upstream. Inside the third assembly cell 21, a robot (see FIG. 3 described later) and a dedicated working machine (see FIG. 3 described later) for performing various operations are installed, and the robot assembles the first semi-finished product W3 and the part W4. It is moved between the second pallet 59 and each dedicated work machine. The contents of work performed by the dedicated working machine in the third assembly cell 21 include, for example, placing the interface board on the first semi-finished product W3, screwing the interface board, fitting the interface cover, and the like. The second pallet 59 carrying the assembled first semi-finished product W3 and parts W4 is conveyed to the next connecting cell 23 by the first conveyer 21Ca. In the following description, the first semi-finished product W3 and the part W4 assembled in the third assembly cell 21 are also referred to as the "second semi-finished product W5".

As shown in FIG. 2, the third assembly cell 21 is provided with a controller 71 that controls the devices in the third assembly cell 21, and includes servo motors (not shown) that drive the conveyors 21Ca and 21Cb, A controller 71 controls a robot, a dedicated work machine, and the like. A camera, a sensor, etc., not shown, are installed in the third assembly cell 21 to detect whether or not the assembly work has been properly performed. It is diagnosed whether or not there is, and if it is diagnosed as defective, it is notified by not-shown notification means (touch panel, alarm device, etc.).

The connection cell 23 (an example of the second cell) is arranged downstream and adjacent to the third assembly cell 21 and is a cell for connecting the third assembly cell 21 and the third component supply cell 25 . . The connection cell 23 is located behind the housing 23C between the third assembly cell 21 and the third parts supply cell 25, and is attached to the second pallet 59 so that the operator can perform at least one of repairing and discharging parts. It has an access space 23S (an example of an access part) for accessing. As shown in FIG. 2, a conveyer 23A (an example of a third conveying device) and a lifting mechanism 48 are provided inside the connection cell 23, and the conveyer 23A moves up and down. An elevating mechanism 48 (an example of a moving mechanism) moves the conveyor 23A between a position corresponding to the first conveyor 21Ca of the third assembly cell 21 and a position corresponding to the second conveyor 21Cb. In the connection cell 23, the second pallet 59 carrying the second semi-finished product W5 is transported to a predetermined position by the transport conveyor 23A that has moved upward, and the second semi-finished product W5 is transported to a predetermined position by an automatic working machine (not shown). Removed from pallet 59 . The empty second pallet 59 is moved downward by the transport conveyor 23A and transported upstream. In this manner, the second pallet 59 circulates among the connection cell 15 , second parts supply cell 17 , connection cell 19 , third assembly cell 21 and connection cell 23 .

On the other hand, in the connection cell 23, the empty third pallet 73 returned from the downstream side is moved upward by the transport conveyor 23A. The third pallet 73 has an uneven shape and positioning members (not shown) for positioning each part, and the second semi-finished product W5 and parts W6 described later are positioned and placed at predetermined positions. It is a member. The automatic working machine described above places the second semi-finished product W5 taken out from the second pallet 59 on the third pallet 73. As shown in FIG. In this manner, the second semi-finished product W5 is replaced from the second pallet 59 to the third pallet 73. In addition, the conveyer 23A conveys the empty second pallet 59 when moving downward, and conveys the empty third pallet 73 when moving upward. 73 is alternately raised and lowered.

Further, in the connection cell 23, when the notification means of the third assembly cell 21 reports a defect in the assembly work, the worker repairs the second semi-finished product W5, or if repair is not possible, the defective product W5 is repaired. is discharged from the production line. Even if the notification is not given, the worker checks whether the assembly work of the second semi-finished product W5 has been properly executed in the third assembly cell 21 on the upstream side, and if the work has failed, may repair or discharge the second semi-finished product W5. The third pallet 73 carrying the assembled second semi-finished product W5 is transported to the next third component supply cell 25 by the transport conveyor 23A. As shown in FIG. 2, the connection cell 23 is provided with a controller 75 that controls the devices in the connection cell 23. A servo motor (not shown) that drives the conveyor 23A and an automatic work machine are controlled by the controller 75. controlled by

In addition, in the connection cell 23, in addition to the above-described parts repair and discharge work, maintenance work and work that is difficult with an automatic work machine (for example, wiring routing, complicated assembly work, etc.) can be performed manually by the operator. good. Moreover, you may perform the said work etc. with an automatic working machine. In the above description, the access space 23S is provided outside (rearward) of the housing 23C. good.

The third component supply cell 25 (an example of a first cell and a third cell) is arranged downstream and adjacent to the connection cell 23, and is a cell for supplying the component W6 (an example of a predetermined work). be. A window portion 25B is provided on the front side of the housing 25A of the third component supply cell 25 so that the state of the inside can be confirmed from the front. As shown in FIG. 2, a conveyer 25C (an example of a conveying device) is installed in two upper and lower stages inside the third component supply cell 25, and a first conveyer 25Ca (an example of a first conveying device) is installed in the upper stage. ) conveys the third pallet 73 on which the second semi-finished product W5 and the parts W6, etc. (simply indicated as “W” in FIG. 2) are placed downstream, and the lower second conveyer 25Cb (an example of a second conveying device) is conveyed downstream. ) conveys the empty third pallet 73 to the upstream side.

As shown in FIG. 1, the third parts supply cell 25 includes a receiving port 77 for receiving a parts container 37 containing a part W6 from the automatic guided vehicle 43, and an empty parts container 37 to the automatic guided vehicle 43. A discharge port 78 for discharge is provided on the front side. The reception port 77 is arranged on the left side, which is the upstream side of the discharge port 78 in the moving direction of the automatic guided vehicle 43 (indicated by the arrow 42 in the drawing). A loading conveyor 79L is provided at the receiving port 77, and receives the component container 37 conveyed by the conveyor 44 of the automatic guided vehicle 43 and conveys it into the cell. An automatic working machine (not shown) is installed inside the third parts supply cell 25 , and the automatic working machine moves the parts W<b>6 accommodated in the parts container 37 to the third pallet 73 . The component W6 is, for example, a panel. The third pallet 73 carrying the second half-finished product W5, the parts W6, etc. is conveyed to the next connecting cell 27 by the first conveyer 25Ca. A carry-out conveyor 79</b>R is provided at the discharge port 78 to discharge the empty parts container 37 to the conveyor 44 of the automatic guided vehicle 43 . In this way, the automatic guided vehicle 43 moves to the receiving port 77 of the third component supply cell 25, supplies the component container 37 containing the component W6 to the receiving port 77, then moves to the discharging port 78, An empty component container 37 is received from the discharge port 78 and then moved to a predetermined location.

As shown in FIG. 2, the third component supply cell 25 includes a controller 81 that controls the devices in the third component supply cell 25, and a servo motor (not shown) that drives the conveyors 25Ca and 25Cb. ) and automatic working machines are controlled by a controller 81 . Further, a camera, a sensor, etc., not shown, are installed in the third component supply cell 25 to detect whether or not the supply work has been performed properly. It is diagnosed whether or not it is defective, and if it is diagnosed as defective, it is notified by not-shown notification means (touch panel, alarm device, etc.).

Note that the parts container 37 may be transported, for example, by an operator using a trolley. Further, the component containers 37 may be transported in a single stack, or may be transported in a stack of three or more.

The connection cell 27 (an example of the second cell) is arranged downstream and adjacent to the third component supply cell 25 and is a cell for connecting the third component supply cell 25 and the fourth assembly cell 29 . be. The connection cell 27 is located behind the housing 27C between the third parts supply cell 25 and the fourth assembly cell 29, and is attached to the third pallet 73 so that the operator can perform at least one of repairing and discharging parts. It has an access space 27S (an example of an access part) for accessing. As shown in FIG. 2, a conveyer 27A (an example of a conveying device) is installed inside the connection cell 27 in two stages, upper and lower. The third pallet 73 loaded with 1 is conveyed to the downstream side, and the empty third pallet 73 is conveyed to the upstream side by the second conveyer 27Ab in the lower stage. In the connection cell 27, when the notification means of the third component supply cell 25 notifies of a defective supply operation, the operator replaces the component W6 on the third pallet 73 and repairs it (or repairs the component W6). ), and if repair is impossible, the defective third pallet 73 or part W6 is discharged from the production line. Even if the notification is not given, the operator checks whether the component W6 has been properly supplied to the third pallet 73 in the third component supply cell 25 on the upstream side, and if the supply has failed, may be repaired or discharged. The third pallet 73 on which the second half-finished product W5 and parts W6, etc. are placed is transferred to the next fourth assembly cell 29 by the first transfer conveyor 27Aa. As shown in FIG. 2, the connection cell 27 includes a controller 83 that controls the devices in the connection cell 27. The controller 83 controls servo motors (not shown) that drive the conveyors 27Aa and 27Ab. be done.

In addition, in the connection cell 27, in addition to the above-described parts repair and discharge work, maintenance work and work that is difficult for an automatic work machine (for example, wiring routing, complicated assembly work, etc.) may be manually performed by the operator. . Further, an automatic working machine may be installed in the connection cell 27 to perform the above-described work and the like by the automatic working machine. In the above description, the access space 27S is provided outside (rear) of the housing 27C. good.

A fourth assembly cell 29 (an example of a first cell) is arranged downstream and adjacent to the connection cell 27, and performs an assembly operation (an example of a predetermined operation) on the second semi-finished product W5 and the part W6. It is a cell for doing. A window portion 29B is provided on the front side of the housing 29A of the fourth assembly cell 29, so that the state of the inside can be confirmed from the front. As shown in FIG. 2, inside the fourth assembly cell 29, a conveyor 29C (an example of a conveying device) is installed in two upper and lower stages. The third pallet 73 carrying the assembled second semi-finished product W5, parts W6, etc. (shown simply as "W" in FIG. 2) is conveyed downstream, and is conveyed downstream by the second conveyer 29Cb (second conveying device (an example) conveys the empty third pallet 73 to the upstream side. Inside the fourth assembly cell 29, a robot (not shown) and dedicated work machines (not shown) for performing various operations are installed. Move between dedicated work machines. The contents of the work performed by the dedicated working machine of the fourth assembly cell 29 are, for example, earth screw tightening, printing on the panel, fitting of the panel, and the like. The third pallet 73 carrying the assembled second semi-finished product W5 and parts W6 is transported to the next connecting cell 31 by the first transport conveyor 29Ca. In the following description, the second semi-finished product W5 and the part W6 assembled in the fourth assembly cell 29 will also be referred to as the "product W7".

As shown in FIG. 2, the fourth assembly cell 29 is provided with a controller 85 that controls the equipment in the fourth assembly cell 29, and includes servo motors (not shown) that drive the conveyors 29Ca and 29Cb, A controller 85 controls a robot, a dedicated work machine, and the like. In the fourth assembly cell 29, a camera, a sensor, etc., not shown, are installed to detect whether or not the assembly work has been performed properly. It is diagnosed whether or not there is, and if it is diagnosed as defective, it is notified by not-shown notification means (touch panel, alarm device, etc.).

The connection cell 31 (an example of the second cell) is arranged downstream and adjacent to the fourth assembly cell 29 and arranged at the most downstream side of the production line 1 . The connection cell 31 is a cell for connecting the production line 1 and a post-process of the production line 1 , in other words, a cell functioning as an exit of the production line 1 . The connection cell 31 has an access space 31S (an example of an access portion) behind the housing 31C for accessing the third pallet 73 so that the operator can at least either repair or remove parts. As shown in FIG. 2, a conveyer 31A (an example of a third conveying device) and a lifting mechanism 50 are provided inside the connection cell 31, and the conveyer 31A moves up and down. A lifting mechanism 50 (an example of a moving mechanism) moves the conveyor 31A between a position corresponding to the first conveyor 29Ca of the fourth assembly cell 29 and a position corresponding to the second conveyor 29Cb. In the connection cell 31, the third pallet 73 carrying the product W7 is transported to a predetermined position by the transport conveyor 31A that has moved upward, and the product W7 is taken out from the third pallet 73 by an automatic working machine (not shown). The empty third pallet 73 is moved downward by the transport conveyor 31A and transported upstream. In this manner, the third pallet 73 circulates among the connection cell 23 , third parts supply cell 25 , connection cell 27 , fourth assembly cell 29 and connection cell 31 .

In the connection cell 31, when the notification means of the fourth assembly cell 29 reports a defect in the assembly work, the worker repairs the product W7, or if repair is impossible, the defective product W7 is repaired. W7 is discharged from the production line. Even if the notification is not given, the worker checks whether or not the assembling work for the second semi-finished product W5 and the part W6 has been properly executed in the fourth assembling cell 29 on the upstream side, and confirms whether the work has failed. In such a case, it may be repaired or discharged. The assembled product W7 is taken out from the third pallet 73 by an automatic working machine, and carried to a post-process by an operator or the like. As shown in FIG. 2, the connection cell 31 is provided with a controller 87 that controls the devices in the connection cell 31. A servo motor (not shown) that drives the conveyor 31A and an automatic work machine are controlled by the controller 87. controlled by

In the connection cell 31, in addition to the repair and discharge work of the product W7, maintenance work and work that is difficult for an automatic work machine (for example, wiring routing and complicated assembly work) are manually performed by the operator. good too. Moreover, you may perform the said work etc. with an automatic working machine. In the above description, the access space 31S is provided outside (rear) of the housing 31C. good.

As described above, each cell has controllers 35, 47, 49, 53, 55, 57, 61, 67, 69, 71, 75, 81 for controlling devices in the cell independently of other cells. , 83, 85 and 87 are respectively installed. As shown in FIG. 2, these controllers are connected to a host controller 89 and are controlled by the host controller 89 in cooperation. Note that each controller may be installed separately from the cell. Also, the upper controller 89 may be installed in any cell, or may be installed separately from the cell. Further, any one of the controllers 35, 47, 49, 53, 55, 57, 61, 67, 69, 71, 75, 81, 83, 85, 87 may have the functions of the controller 89 described above. Also, each controller and the host controller 89 may be configured by a combination of either one or both of a programmable logic controller (PLC) and a robot controller (RC).

Note that the combination of cells in the production line 1 described above is an example, and is not limited to the content described above. For example, the number, arrangement, and combination of cells may be changed according to the type and quantity of products to be produced, variations in work processes, and the like. Also, in addition to or instead of the cells described above, cells to which work contents different from those of the cells described above are assigned may be combined.

<2. Internal Configuration of Assembly Cell>
Next, the internal configuration of the third assembly cell 21 will be described as an example of the internal configuration of the assembly cell in the production line 1 with reference to FIGS. 3 and 4. FIG. FIG. 3 is an explanatory diagram showing an example of the internal configuration of the third assembly cell 21, and FIG. 4 is an explanatory diagram showing an example of the configuration of the positioning mechanism 94. As shown in FIG. 3 and 4, illustration of parts other than the base of the housing 21A and illustration of positioning members for the second pallet 59 and the like are omitted as appropriate.

As shown in FIG. 3, the housing 21A of the third assembly cell 21 has a base 91. As shown in FIG. On the front side of the base 91, the above-described first conveyer 21Ca and second conveyer 21Cb are installed in two stages, upper and lower, by a frame 93. As shown in FIG. A substrate mounting machine 97 is installed above the left side (upstream side) of the first transport conveyor 21Ca with a frame 95 interposed therebetween. The substrate placement machine 97 is a dedicated work machine having actuators movable in the XYZ directions and performing a substrate placement operation for placing the aforementioned interface substrate (hereinafter referred to as "interface substrate W4a") on the first semi-finished product W3. be.

A vertical multi-joint type robot 99 having, for example, six joints (six axes) is installed substantially in the center of the base 91 . A robot 99 grips and moves a part with a hand 101 . A screw tightening machine 105 is installed on the rear right side of the base 91 via a frame 103 . The screw tightening machine 105 is a dedicated working machine that includes an actuator that can move in the XYZ directions, and performs a screw tightening operation for screwing the interface board W4a to the first half-finished product W3. A cover fitting machine 109 is installed on the rear left side of the base 91 via a frame 107 . The cover fitting machine 109 has an actuator movable in the XYZ directions, and is a dedicated work machine for performing cover fitting work for fitting the aforementioned interface cover (hereinafter referred to as "interface cover W4b") to the first semi-finished product W3. be.

The first conveyer 21Ca includes pulleys 100 provided at both ends in the conveying direction (horizontal direction), and a pair of thin belts wound around the pulleys 100 and provided at both ends in the width direction (front-rear direction) of the conveyor. 102 and a pair of plate members 104 provided on the outside of the pulley 100 and the belt 102 in the width direction. Pulley 100 is driven by servomotor 92 . The plate member 104 abuts on both ends of the conveyed second pallet 59 to position it in the width direction. The conveyer 21Cb also has the same configuration.

The first transport conveyor 21Ca stops the second pallet 59 at, for example, three work stations ST1, ST2, and ST3 under position control by the controller 71 described above. A work station is a stop position where the second pallet 59 is stopped for a predetermined period of time. A predetermined assembly work process is assigned to each work station. The assigned work may be performed at each work station, or may be performed at another location. The number of work stations is not particularly limited, and may be other than three. After being supplied, the time until the next second semi-finished product W5 is supplied to the connection cell 23 (i.e., the supply interval time of the second semi-finished product W5) and the performance of the robot 99 (movable range, weight capacity, movable Speed, etc.), etc., are set at three positions in this embodiment, thereby optimizing the work efficiency of the robot and shortening the takt time.

The first work station ST1 is located below the substrate mounting machine 97 and is assigned a substrate mounting work step. This substrate placement work is performed at the first work station ST1. That is, the interface substrate W4a is placed on the first half-finished product W3 by the substrate placing machine 97 on the second pallet 59 stopped at the work station ST1.

Both the screw tightening process and the cover fitting process are assigned to the second work station ST2 and the third work station ST3, respectively. These screw tightening operations and cover fitting operations are performed at locations different from the work stations ST2 and ST3. That is, the workpiece (the first semi-finished product W3 on which the interface substrate W4a is placed) placed on the second pallet 59 stopped at the second work station ST2 is moved by the robot 99 to the screw tightening machine 105 and screwed. work is done. During this time, the second pallet 59 from which the works have been taken out at the second work station ST2 is moved to the third work station ST3. Next, the workpiece (the first half-finished product W3 to which the interface board W4a is screwed) is moved to the cover fitting machine 109 by the robot 99, and the cover fitting operation is performed. After that, the workpiece (the first half-finished product W3 fitted with the interface cover W4b) is moved by the robot 99 to the second pallet 59 stopped at the third work station ST3.

In the above, when the second pallet 59 from which the works have been taken out at the second work station ST2 is moved to the third work station ST3, a new second pallet from the first work station ST1 is moved to the vacant second work station ST2. 59 is moved. Then, the same work steps as described above are repeated.

One work may be assigned to one work station, such as the screw tightening work to the second work station ST2 and the cover fitting work to the third work station ST3. In this case, the work that has been screwed by the screw tightening machine 105 is returned to the second pallet 59 of the second work station ST2, and after the second pallet 59 is moved to the third work station ST3, the work is fitted with a cover. It moves to the combiner 109, and the tact time is extended. In this embodiment, by allocating the same work to the second work station ST2 and the third work station ST3 as described above, the work that has undergone the screw tightening work by the screw tightening machine 105 is sent to the second work station ST2. It can be moved to the cover fitting machine 109 without being returned, and the tact time can be shortened.

Each of the work stations ST1, ST2, and ST3 is provided with a push-up mechanism 111 inside the pair of belts 102 for pushing up the second pallet 59 from the conveying surface of the first conveyer 21Ca by a predetermined amount. The push-up mechanism 111 is composed of, for example, linear actuators arranged below the four corners of the second pallet 59 and extending and contracting in the vertical direction. The push-up mechanism 111 can independently transport only the second pallet 59 positioned at any station among the work stations ST1, ST2, and ST3. As a result, for example, when a vacancy (absence of a pallet) occurs in a work station on the downstream side, it is possible to immediately and individually move the second pallet 59 of the work station on the upstream side so as to fill the vacancy. Become. Further, for example, while leaving the second pallets 59 of the work stations ST1 and ST2, only the second pallets 59 of the work station ST3 are sent to the next connecting cell 23, or the second pallets 59 of the work stations ST2 and ST3 are left while the previous pallets 59 are sent. It is possible, for example, to receive the second pallet 59 from the connecting cell 19 to the work station ST1.

A positioning mechanism 94 for positioning the second pallet 59 at a predetermined position is provided in the first work station ST1 arranged on the most upstream side in the conveying direction of the first conveyer 21Ca. As shown in FIG. 4, the positioning mechanism 94 includes a pair of linear motion actuators 96 arranged at, for example, two locations in the width direction (front-rear direction) of the conveyor and extending and contracting in the conveying direction (horizontal direction). and a pair of elevation actuators 106 for vertically moving the linear actuators 98 . A pair of concave portions 108 (not shown in FIG. 3) are formed in the second pallet 59 at positions corresponding to the pair of linear motion actuators 96 so that the linear motion actuators 96 can be fitted.

As shown in FIG. 4, the second pallet 59 is transported from the connecting cell 19 to the work station ST1 and stopped with the linear actuators 96 and 98 contracted and the linear actuator 98 lowered. Next, the linear actuator 96 is extended and the linear actuator 98 is lifted by the lift actuator 106 . Then, the linear motion actuator 98 extends and pushes the second pallet 59 toward the downstream side, so that the concave portion 108 fits into the linear motion actuator 96 and the second pallet 59 is positioned at a predetermined position. After the second pallet 59 is positioned at the first work station ST1 in this way, it is moved to the second work station ST2 and the third work station by position control and speed control by the servo motor 92 that drives the first conveyor 21Ca. Stopped at station ST3. Therefore, it becomes unnecessary to install a sensor for detecting a pallet at each work station.

The substrate placing machine 97, the robot 99, the screw tightening machine 105, the cover fitting machine 109, the conveyors 21Ca and 21Cb, the lifting mechanism 111, and the positioning mechanism 94 are integrally controlled by the controller 71 mentioned above.

The configuration of the third assembly cell 21 described above is an example, and is not limited to the content described above. For example, the robot 99 may be a robot with axes other than 6 (for example, 5 or 7 axes), or may be a robot other than a vertical articulated type such as a horizontal articulated type. Further, instead of a robot having a plurality of joints, a dedicated working machine for transporting a workpiece having an actuator capable of moving in at least one of the XYZθ directions may be used. Alternatively, the robot 99 may be caused to perform at least one of the above-described dedicated work machines, and the corresponding dedicated work machines may be omitted. Also, in addition to or instead of the dedicated work machine described above, a dedicated work machine for performing other work may be installed. Instead of controlling the position of the first conveyer 21Ca by a servomotor, a sensor for detecting the second pallet 59 is provided in each of the work stations ST1, ST2, and ST3, and the first conveyor 21Ca is moved based on the detection result of the sensor. The transport conveyor 21Ca may be controlled.

<3. Internal Configuration and Operation of Component Supply Cell>
Next, the internal configuration and operation of the second component supply cell 17 will be described as an example of the internal configuration and operation of the component supply cell in the production line 1 with reference to FIGS. 5 and 6. FIG. FIG. 5 is an explanatory diagram showing an example of the internal configuration of the second component supply cell 17, and FIG. 6 is an explanatory diagram showing an example of the operation of the second component supply cell 17. As shown in FIG. 5 and 6, portions other than the base of the housing 17A and the conveyors 17Ca and 17Cb are omitted as appropriate.

As shown in FIG. 4, the housing 17A of the second component supply cell 17 has a base 113. As shown in FIG. On the front side of the base 113, the aforementioned carry-in conveyor 65L and carry-out conveyor 65R are installed corresponding to the receiving port 63 and the discharging port 64, respectively. A first conveyer 115 is installed at substantially the center of the base 113 in the front-rear direction. The first transport conveyor 115 can be moved in the left-right direction by a slide mechanism 117 to positions corresponding to the loading conveyor 65L and the unloading conveyor 65R. A second conveyor 119 is installed behind the base 113 . The second transport conveyor 119 can be moved in the left-right direction by the slide mechanism 120 to positions corresponding to the loading conveyor 65L and the unloading conveyor 65R.

Although not shown, the first conveyor 17Ca and the second conveyor 17Cb are installed above and below the first conveyor 115, respectively.

A first component container lifting mechanism 124 is provided on each side in the left-right direction of the partition wall 122 that separates the receiving port 63 and the discharging port 64 . The first component container lifting mechanism 124 has, for example, a pair of guide rails 126 , a lifting member 128 that moves vertically along the guide rails 126 , and a pair of clamp members 130 attached to the lifting member 128 , for example. The clamp member 130 can hold the component container 37 by engaging with an engaging portion (not shown) such as a flange of the component container 37 . As a result, the first component container lifting mechanism 124 provided on the side of the receiving port 63 can hold and lift the component container 37 containing the component W4 received from the receiving port 63 . Further, the first parts container lifting mechanism 124 provided on the discharge port 64 side can hold and lift the empty parts container 37 discharged from the discharge port 64 .

A rear wall 132 on the rear side of the second transport conveyor 119 is provided with second component container lifting mechanisms 134 at positions corresponding to the carry-in conveyor 65L and the carry-out conveyor 65R, respectively. The second component container lifting mechanism 134 has, for example, a pair of guide rails 136 , a lifting member 138 that moves vertically along the guide rails 136 , and a pair of clamp members 140 attached to the lifting member 138 , for example. The clamp member 140 can hold the component container 37 by engaging with an engaging portion (not shown) such as a flange of the component container 37 . As a result, the second parts container lifting mechanism 134 provided on the left side can hold and lift the parts container 37 placed on the second transfer conveyor 119 moved to the left side. Similarly, the second parts container lifting mechanism 134 provided on the right side can hold and lift the parts container 37 placed on the second transfer conveyor 119 moved to the right side.

A robot base 123 is installed above the second conveyor 119 via a frame 121 . The robot base 123 moves in the left-right direction by the slide mechanism 125 and forms an opening 142 that exposes the component container 37 on the side opposite to the moving direction. That is, as shown in FIG. 5, when the robot base 123 moves to the right, the opening 142 is formed on the left, and conversely, when the robot base 123 moves to the left, the opening 142 is formed on the right. At the opening 142 , the second component container lifting mechanism 134 lifts the component container 37 to a height where it does not come into contact with the robot base 123 . A vertically articulated robot 127 having, for example, six joints (six axes) is installed on the top of the robot base 123, and the robot 127 can be moved forward and backward by a predetermined amount by means of a slide mechanism 144 as necessary. It is possible to move only The robot 127 grips the component W4 stored in the component container 37 through the opening 142 with the hand 129, and moves it to the second pallet 59 on the upper first transport conveyor 17Ca.

Carry-in conveyor 65L, carry-out conveyor 65R, first component container lifting mechanism 124, first transport conveyor 115, slide mechanism 117, second transport conveyor 119, slide mechanism 120, second component container lift mechanism 134, slide mechanism 125, The slide mechanism 144, the robot 127, and the like are integrally controlled by the controller 67 described above.

Next, the operation of the second component supply cell 17 configured as described above will be described with reference to FIG. In addition, in FIG. 6, reference numerals are omitted in order to prevent the illustration from becoming complicated.

For example, from the state shown in FIG. 5, as shown in operation step (1) in FIG. Next, as shown in operation step (2), the first component container lifting mechanism 124 holds and lifts the upper component container 37 . Next, as shown in the operation step (3), the carry-in conveyor 65L, the first conveyor 115, and the second conveyor 119 convey the lower component container 37 to the left rear side. Next, as shown in operation step (4), the second parts container lifting mechanism 134 lifts the parts container 37 to expose it from the left opening 142 . As a result, the robot 127 starts moving (supplying) the parts W4 stored in the parts container 37 held in the left opening 142 to the second pallet 59 on the first conveyor 17Ca. Also, the upper component container 37 held by the first component container lifting mechanism 124 is lowered onto the carry-in conveyor 65L.

Next, as shown in operation step (5), the carry-in conveyor 65L, the first conveyor 115, and the second conveyor 119 convey the second component container 37 to the left rear side, and the first conveyor 115 and The second transport conveyor 119 moves to the right to move the component container 37 to the right rear side (below the robot base 123). Next, as shown in operation step (6), the second component container lifting mechanism 134 lifts the component container 37 and holds it under the robot base 123 . Next, as shown in operation step (7), the first conveyor 115 and the second conveyor 119 move to the left until the component container 37 held in the left opening 142 is emptied. When the parts container 37 is emptied, the robot base 123 moves to the left as shown in operation step (8), and the parts container 37 held on the right rear side is exposed from the opening 142 formed on the right side. As a result, the robot 127 starts moving (supplying) the parts W4 stored in the parts container 37 held in the right opening 142 to the second pallet 59 on the first conveyor 17Ca.

Next, as shown in operation step ( 9 ), the second component container lifting mechanism 134 lowers the empty left component container 37 onto the second transport conveyor 119 . Next, as shown in the operation step (10), the first transport conveyor 115 and the second transport conveyor 119 move to the right side, and the first transport conveyor 115, the second transport conveyor 119, and the unloading conveyor 65R move the empty parts. The container 37 is moved to the vicinity of the outlet 64 . Next, as shown in operation step (11), the first parts container lifting mechanism 124 holds and lifts the empty parts container 37 . Next, as shown in the operation step (12), the carry-in conveyor 65L receives the double-stacked component container 37 containing the component W4 from the automatic guided vehicle 43 at the receiving port 63. FIG.

Next, as shown in operation step (13), the first component container lifting mechanism 124 of the receiving port 63 holds and lifts the upper component container 37 . In addition, the carry-in conveyor 65L, the first transport conveyor 115, and the second transport conveyor 119 transport the lower component container 37 to the left rear side, and the second component container lifting mechanism 134 lifts the component container 37 to move the robot base 123. keep it down. Next, as shown in operation step (14), the first conveyor 115 and the second conveyor 119 move to the right until the component container 37 held in the right opening 142 is emptied. When the parts container 37 is emptied, the robot base 123 moves to the right side, and the parts container 37 held on the left rear side is exposed from the opening 142 formed on the left side, as shown in operation step (15). As a result, the robot 127 starts moving (supplying) the parts W4 stored in the parts container 37 held in the left opening 142 to the second pallet 59 on the first conveyor 17Ca. Next, as shown in the operation step (16), the second component container lifting mechanism 134 lowers the empty right component container 37 onto the second conveyor 119, and the second conveyor 119 and the first conveyor 115 , and the carry-out conveyor 65R move the empty parts container 37 to the vicinity of the discharge port 64. As shown in FIG.

Next, as shown in the operation step (17), the empty component container 37 held by the first component container lifting mechanism 124 is lowered into a two-tiered state, and the carry-out conveyor 65R is unmannedly conveyed from the discharge port 64. The double-stacked empty parts container 37 is discharged to the car 43. - 特許庁This automatic guided vehicle 43 is the automatic guided vehicle 43 that has been emptied by supplying the parts container 37 to the receiving port 63 in the operation step (12). Next, as shown in operation step (18), the first conveyor 115 and the second conveyor 119 move to the left. Next, returning to the operation step (4), the upper component container 37 held by the first component container lifting mechanism 124 is lowered onto the carry-in conveyor 65L. After that, the operation step (5) and subsequent steps are repeated.

By repeating the above operation steps, while parts are being supplied from the parts container 37 on one side of the gantry 121 in the left-right direction, the parts container 37 that has become empty on the other side of the gantry 121 in the left-right direction is carried out and the parts are removed. It becomes possible to carry in and set the parts container 37 containing the parts, and the tact time can be shortened.

In addition, the configuration and operation process of the second component supply cell 17 described above are examples, and are not limited to the contents described above. For example, the robot 127 may be a robot with axes other than 6 (for example, 5 or 7 axes), or may be a robot other than a vertical articulated type such as a horizontal articulated type. Further, instead of a robot having a plurality of joints, a dedicated working machine for transporting a workpiece having an actuator capable of moving in at least one of the XYZθ directions may be used.

<4. Production line manufacturing method>
Next, an example of a manufacturing method for the production line 1 will be described with reference to FIGS. 7 to 9. FIG.

The production line 1 described above includes assembly cells 9, 13, 21, and 29 and parts supply cells 5, 17, and 25 (hereinafter referred to as assembly cells) equipped with automatic working machines for performing predetermined operations on parts based on the specifications of the production line. (also referred to as "work cells 5, 9, 13, 17, 21, 25, 29" as appropriate); 27, 31 adjacent to the work cells 5, 9, 13, 17, 21, 25, 29 as required. Here, "as necessary" means, for example, when the reliability and certainty of the work in each assembly cell and each parts supply cell are high, a configuration in which no connection cells are arranged is possible, while, for example, a specific When the reliability and certainty of the work in the assembly cell or parts supply cell are low to realize completely unmanned operation, or when priority is given to improving the yield of the production line and continuing production, etc. This refers to placement adjacent to an assembly cell or parts supply cell. In the production line 1 of this embodiment, all the work cells 5, 9, 13, 17, 5, 9, 17, 17, 17, 17, 17, 17, 28, 28, 29, 28, 28, 28, 28, 20, 20, 20, 20, 20 each Connection cells 3, 7, 11, 15, 19, 23, 27, and 31 are arranged adjacent to 21, 25, and 29 (configuration shown in the first stage of FIG. 7).

In the production line 1 configured in this manner, the robots are arranged adjacent to specific assembly cells or parts supply cells based on the reliability of the work performed by the automatic work machines in each assembly cell and each parts supply cell. You can also delete joined cells. For example, when the reliability and certainty of work in the parts supply cells 5, 17, 25 are improved due to the introduction of new automatic work machines, technical improvements, technological innovations, etc., the parts supply cells 5, 17, 25 The layout of the production line 1 can be optimized by removing the connecting cells 7, 19, and 27 adjacent to the downstream side of the (configuration shown in the second stage of FIG. 7).

Similarly, for example, when the reliability and certainty of work in the assembly cells 9, 13, 21, 29 are improved due to the introduction of new automatic work machines, technical improvements, technological innovations, etc., the assembly cells 9, 21, 29 By eliminating the connecting cells 11, 15, 23, 31 adjacent downstream of 13, 21, 29, the layout of the production line 1 can be further optimized. In this embodiment, among the connecting cells 11, 15, 23, and 31, the connecting cells 15, 23, and 31 are provided with lifting mechanisms for the transport conveyors, and constitute a pallet circulation structure. It is possible to adopt a configuration in which the connection cells 11 that are not provided are deleted (the configuration shown in the third stage of FIG. 7).

If production line 1 uses only one type of pallet without changing the type of pallet in the middle of the line, for example, because the number of parts to be used is small, or the size of the pallet can be sufficiently secured, In some cases, the concatenated cells 15 and 23 as well as the concatenated cell 11 can be deleted. In this case, it is possible to realize a production line in which all connecting cells in the middle of the line are eliminated except connecting cells 3 and 31 at the entrance and exit of the production line (configuration shown in the fourth stage of FIG. 7).

On the other hand, in the production line 1 of this embodiment, it is easy to convert a plurality of cells into a single cell or convert a single cell into a plurality of cells. For example, as shown in FIG. 8, it has become possible to replace the first assembling cell 9 and the second assembling cell 13 with a single assembling cell 12 due to the introduction of new automatic working machines, technical improvements, and technological innovations. In some cases, the connecting cell 11 arranged between the first assembly cell 9 and the second assembly cell 13 is deleted, and the first assembly cell 9 and the second assembly cell 13 are replaced with the assembly cell 12, whereby the production line 1 layout can be optimized.

Further, for example, in the third assembly cell 21, the reliability and certainty of the board mounting work assigned to the first work station ST1 and the cover fitting work assigned to the third work station ST3 can be completely unmanned. However, if the reliability and certainty of the screw tightening work assigned to the second work station ST2 is low enough to achieve fully unmanned operation, for example, multiple cells can be used as follows. good. That is, as shown in FIG. 9, a third assembly cell 21 is divided into an assembly cell 20 having a first work station ST1 and a second work station ST2, and an assembly cell 22 having a third work station ST3. become Then, the connection cell 23, which had been arranged adjacent to the third assembly cell 21, is moved to the downstream side of the assembly cell 20 having the second work station ST2 with low reliability (new connection cell may be provided), and the third component supply cell 25 is directly arranged without arranging the connection cell downstream of the assembly cell 22 having the highly reliable third work station ST3. For example, in this way the layout of the production line 1 can be optimized.

<5. Example of effect of embodiment>

As described above, the production line 1 of the present embodiment is a production line configured by combining a plurality of cells to produce products. work cells 5, 9, 13, 17, 21, 25, 29 equipped with machines and connecting cells 3, 7, 11, 15, located adjacent to these work cells, capable of repairing or ejecting parts, 19, 23, 27, 31, and

As a result, even if the predetermined work is not properly executed in the work cells 5, 9, 13, 17, 21, 25, 29, the connection cells 3, 7, 11, 15, 19, 23, 27, 31 Since the parts can be repaired or discharged, the production of products can be continued without stopping the production line 1 . In addition, by configuring the production line 1 as described above, the reliability of the work in the work cells 5, 9, 13, 17, 21, 25, and 29 can be improved by, for example, introduction of new automatic work machines, technical improvement, and technological innovation. , when certainty is improved, etc., connected cells adjacent to the relevant work cell can be deleted. Also, for example, in order to improve the yield of the production line 1, at the beginning of the new production line, the connection cells 3, 7, 11, 15, 19, 23, 27, and 31 were not arranged adjacent to the work cells. You can also add spanned cells with Furthermore, for example, when changing the number, arrangement, type, combination, etc. of work cells according to the type and quantity of products to be produced, fluctuations in the production process, etc., the reliability and certainty of work in the changed work cells Concatenated cells can also be added, deleted, changed, etc., according to their nature and the like. In this way, the layout of the production line can be optimized, resulting in a high degree of flexibility.

In addition, particularly in the present embodiment, the connecting cells 3, 7, 11, 15, 19, 23, 27, 31 have access portions 3S, 7S, 11S, 15S, 19S through which workers can repair or eject parts. , 23S, 27S, 31S. As a result, when a predetermined work is not properly performed on a part in the work cells 5, 9, 13, 17, 21, 25, and 29, the worker can repair the part, or when repair is impossible. , the worker can discharge the part from the production line 1 . In this way, by having the worker perform the work of the connected cell, it becomes possible to perform, for example, visual inspection work, maintenance work, and work that is difficult with an automatic work machine, in addition to repairing and discharging parts. Further, since the work cells can be made unmanned by manning the connecting cells, the automation of the production line 1 can be promoted. Furthermore, compared to the case of using an automatic working machine to work with the connected cells, the need for an automatic working machine or a specially designed hand for gripping the parts is eliminated, so costs can be reduced.

Further, particularly in this embodiment, the work cells 5, 9, 13, 17, 21, 25, and 29 move the pallets 33, 59, and 73 on which the parts are placed downstream in the production line 1, which is the conveying direction of the parts. The first conveyors 5Ca, 9Ca, 13Ca, 17Ca, 21Ca, 25Ca, and 29Ca that convey to the side, and the second conveyor that conveys the parts 33, 59, and 73 from which the parts are taken out to the upstream side in the direction opposite to the conveying direction. It has conveyors 5Cb, 9Cb, 13Cb, 17Cb, 21Cb, 25Cb and 29Cb.

By using the pallets 33, 59, 73, it becomes possible to position the parts to be conveyed, and to improve the handleability and work accuracy of the automatic working machine. Further, the pallets 33, 59, 73 on which the parts are placed are conveyed downstream by the first conveyor, and the pallets 33, 59, 73 from which the parts are taken out are conveyed upstream by the second conveyor. , the pallets 33 , 59 , 73 can be circulated in the production line 1 . As a result, the number of pallets can be greatly reduced compared to the case where used pallets are transported from the exit to the entrance of the production line 1 by trolleys or automated guided vehicles, and pallet transportation means such as automated guided vehicles are unnecessary. Therefore, the cost can be reduced.

In addition, particularly in the present embodiment, the connection cells 3, 15, 23, 31 include transport conveyors 3C, 15D, 23A, 31A capable of transporting the pallets 33, 59, 73 both upstream and downstream, and transport conveyors elevating mechanisms 32, 46, 48, 50 for moving 3C, 15D, 23A, 31A between positions corresponding to the first and second conveyors of the work cell.

Thus, by combining the work cells 5, 9, 13, 17, 21, 25, 29 and the connection cells 3, 15, 23, 31, etc., a circulation structure for the pallets 33, 59, 73 can be realized. Further, by providing the lifting mechanisms 32, 46, 48, 50 of the conveyors 3C, 15D, 23A, 31A in the connecting cells, the conveying direction of the pallets 33, 59, 73 can be changed only in the connecting cells without using the work cells. It is possible to standardize the work cell because it can be performed by Furthermore, elevating mechanisms 32, 46, 48 and 50, for example, carry one pallet when the transport conveyors 3C, 15D, 23A and 31A move downward, and carry a different pallet when moving upward. In addition, it is possible to alternately move different types of pallets. As a result, it is possible to change the types of the pallets 33, 59, 73 in the middle of the production line 1, so that it is no longer necessary to mount all the parts on one pallet, and the pallet can be made smaller. The transfer conveyor and the production line 1 can be made smaller.

Further, particularly in this embodiment, the third assembly cell 21 is a stop position where the pallet 59 conveyed by the first conveyer 21Ca is stopped for a predetermined stop time. It has a plurality of work stations ST1, ST2, ST3 to which work processes are assigned. As a result, the work can be assigned to each work station and designed, so that the production line 1 can be easily configured, and the single production line 1 can produce a wide variety of products.

Further, particularly in this embodiment, the third assembly cell 21 has a push-up mechanism 111 that pushes up the pallet 59 by a predetermined amount from the transfer surface of the first transfer conveyor 21Ca for each of the work stations ST1, ST2, and ST3. As a result, only the pallets 59 positioned at arbitrary work stations ST1, ST2, ST3 can be independently transported. For example, when there is a vacancy (a state in which the pallet 59 is absent) in a work station on the downstream side, it is possible to individually move the pallet 59 of each work station so as to fill the vacancy. By doing so, it is possible to prevent the work stations ST1, ST2, and ST3 from becoming vacant, and shorten the takt time.

Further, particularly in this embodiment, the third assembling cell 21 is arranged at the first work station ST1 located on the most upstream side in the transport direction, and has a positioning mechanism 94 for positioning the pallet 59 at a predetermined position, and a first transport and a servomotor 92 that drives the conveyor 21Ca. This eliminates the need for high precision in positioning the cells (the third assembly cell 21 and the upstream connection cell 19), facilitating cell replacement and further enhancing the flexibility of the production line 1. . Further, after positioning at the first work station ST1, the position and speed of the pallet 59 can be controlled with high accuracy by the servo motor 92. Therefore, the accuracy of position control between work stations can be improved, and the moving speed of the pallet 59 can be increased. You can speed up and reduce travel time. Furthermore, since it is no longer necessary to install a position sensor at each work station, costs can be reduced.

In the present embodiment, the third assembly cell 21 includes, as an automatic working machine, a substrate placing machine 97, a screw tightening machine 105, and a cover fitting machine 109 which are exclusively designed for performing predetermined work. and a multi-joint type robot with a plurality of joints that moves parts between the pallet 59 and the screw tightening machine 105 or the cover fitting machine 109, or between the screw tightening machine 105 and the cover fitting machine 109 99 and In this way, the work on the part is performed by the dedicated work machine, and the movement of the part is performed by the robot 99. By replacing the dedicated work machine while leaving the articulated robot 99, different work can be performed. It is possible to change the assembly cell to one that meets the requirements, and the flexibility of the assembly cell can be enhanced. In addition, since it becomes possible to focus on the development of dedicated work machines, it is possible to flexibly respond to technical improvements, technological innovations, and the like.

In addition, particularly in this embodiment, the production line 1 has parts supply cells 5, 17, and 25, and the parts supply cells 5, 17, and 25 transport the parts container 37 containing the parts to the automatic guided vehicle 43. and outlets 40, 64, 78 for discharging the empty parts container 37 to the automatic guided vehicle 43. The inlets 39, 63, 77 64 and 78 are arranged on the upstream side in the moving direction 42 of the automatic guided vehicle 43 .

As a result, the automatic guided vehicle 43 conveys the component container 37 containing the component and supplies it to the receiving port of the component supply cell, then moves to the discharge port, and removes the empty component container 37 from the discharge port of the component supply cell. can receive. In this way, the automatic guided vehicle 43 can supply and discharge the parts container 37 without changing the moving direction, so that the traveling distance of the automatic guided vehicle 43 can be shortened, and the parts container 37 can be supplied and received. can be executed efficiently.

Further, the manufacturing method of the production line 1 of the present embodiment includes the work cells 5, 9, 13, 17, 21, 25, 25, 25, 25, 25, 25, 27, 27, 27, 27, 27, 28, 28, 28, 28, 28, 28, 28 each having automatic working machines that perform predetermined work on parts based on the specifications of the production line 1. 29 and arranging connecting cells 3, 7, 11, 15, 19, 23, 27, 31 capable of repairing or ejecting parts adjacent to the work cells as required; have

As a result, for example, when the reliability and certainty of work in a specific work cell are high, it is possible to adopt a configuration in which the connection cells are not arranged. Alternatively, when priority is given to the improvement of the yield of the production line 1 or the continuation of production, the connection cell can be arranged adjacent to the work cell. In this way, the layout of the production line 1 can be optimized, thus achieving a high degree of flexibility.

In addition, in this embodiment, the work cells 5, 9, 13, 13, 29, 5, 9, 13, 29, 5, 9, 13, 29, 29, 29, 29, 29, 29, 29, 29, 29, 20, 29, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20 work Eliminating connected cells 3,7,11,15,19,23,27,31 located adjacent to 17,21,25,29. As a result, for example, when the reliability and certainty of work in a work cell improves due to the introduction of a new automatic work machine, technical improvement, technological innovation, etc., by deleting the connected cell adjacent to the work cell, The layout of the production line 1 can be optimized.

Further, the production line 1 of this embodiment is configured by combining a plurality of cells 3, 5, 7, 9, 11, 13, 15, 17, 19, 21, 23, 25, 27, 29, 31. Each of the plurality of cells is equipped with conveyors 3C, 5C, 7A, 9C, 3C, 5C, 7A, 9C, 3C, 5C, 7A, 9C, 7C, 7C, 7C, 7C, 7C, 7C, 7C, 7C, 7C, 7C, 7C, 7C, 7C, 7C, 7C, 7C, 7C, 7C, and 9C. 11A, 13C, 15C, 15D, 17C, 19A, 21C, 23A, 25C, 27A, 29C, 31A, and at least cells 5, 9, 13, 15, 17, 21, 23, 25, 29 and 31 have automatic working machines for performing predetermined operations on parts W1, W2, W3, W4, W5 and W6.

As a result, parts can be transported in each cell that constitutes the production line 1, and main operations such as parts supply and parts assembly can be executed by automatic working machines, thereby promoting automation. . In addition, since the production line 1 is configured by combining a plurality of cells, by changing the number, arrangement, type, combination, etc. of each cell, it is possible to respond to variations in the type and quantity of products to be produced, work processes, etc. It is possible to realize a highly flexible production line. Furthermore, since the cells 7, 11, 15, 19, 23, 27, etc. that can be manually operated by workers are arranged between the cells 5, 9, 13, 17, 21, 25, 29 equipped with automatic working machines. , check whether the work has been properly performed by the automatic work machine, replace it manually if the work is not done properly, or if the work is impossible due to the failure of the automatic work machine, It is possible to supplement difficult work manually.

<6. Variation>
It should be noted that the disclosed embodiments are not limited to the above, and various modifications are possible without departing from the gist and technical ideas thereof.

(5-1. When installing multiple identical dedicated work machines in the assembly cell)
For example, in an assembly cell, when a work process that takes longer than the takt time (determined by the specifications of the production line) set for the assembly cell is executed, a dedicated work machine that performs the work is used. A plurality of units may be installed in the assembly cell, and the same work process may be assigned to each of the plurality of work stations.

For example, in the example shown in FIG. 10, in the third assembly cell 21X, the screw tightening machine 105 and the cover fitting machine 109 are installed on both the pedestal 103 and the pedestal 107. can be executed concurrently in two systems. This modified example is an example in which the time required for the screw tightening process and the cover fitting process (for example, 60 seconds) is longer than the tact time (for example, 45 seconds) set for the third assembly cell 21X. . The second work station ST2 and the third work station ST3 are assigned the same work processes, that is, both the screw tightening work process and the cover fitting work process in this example.

With the above configuration, the third assembly cell 21X operates as follows. That is, the workpiece (the first semi-finished product W3 on which the interface substrate W4a is placed) placed on the second pallet 59 stopped at the second work station ST2 is moved by the robot 99 to one screw fastening machine (for example, the pedestal 103). 105 and the other (for example, frame 107) screwing machine 105 alternately. In each of the mounts 103 and 107, the screw tightening work is performed by the screw tightening machine 105, and the cover fitting work is performed by the cover fitting machine 109. As shown in FIG. The second pallet 59 from which the work has been taken out at the second work station ST2 is moved to the third work station ST3, where the cover fitting machine 109 on one side (for example, the pedestal 103) and the cover fitting machine 109 on the other side (for example, the pedestal 107) are moved by the robot 99. Workpieces are placed alternately from the fitting machine 109 . By doing so, it is possible to concurrently execute two systems of work processes that require a longer time than the takt time of the third assembly cell 21X. As a result, the above work process can be executed without extending the takt time of the third assembly cell 21X.

Note that two or more work stations to which the same work process is assigned as described above do not necessarily have to be provided in the same cell. For example, when it is impossible to install two screw tightening machines 105 and two cover fitting machines 109 in the third assembly cell 21X due to space restrictions, one of the screw tightening machines 105 and cover fitting machines The combiner 109 may be installed in a cell (for example, another assembly cell) different from the third assembly cell 21X. In this case, for example, a second work station ST2 is provided in the third assembly cell 21X to which work by one screwing machine 105 and cover fitting machine 109 is assigned, and the other screwing machine 105 and cover fitting machine 109 are provided in the other assembly cell. A third work station ST3 may be provided to which work by the fitting machine 109 is assigned.

(5-2. When pallets are not circulated)
In the above embodiment, the production line 1 is configured to circulate the pallets, but it is not necessarily required to be configured to circulate the pallets. For example, a pallet is supplied by an automatic working machine or a worker in the most upstream connection cell (connection cell 3 in the above embodiment) of the production line, and the most downstream connection cell (connection cell 31 in the above embodiment) of the production line is supplied. ), the pallet may be collected by an automatic working machine or an operator, and transported from the exit to the entrance of the production line by, for example, a trolley or an unmanned guided vehicle. In this case, if it is necessary to change the type of pallet in the middle of production line 1, the pallet is replaced by an automatic working machine or an operator at that location (connection cells 15 and 23 in the above embodiment). Connected cells may be arranged.

<7. Controller hardware configuration example>
Next, referring to FIG. 11, a hardware configuration example of the host controller 89 described above will be described. The controllers 35, 47, 49, 53, 55, 57, 61, 67, 69, 71, 75, 81, 83, 85, 87 provided in each cell may also have the same hardware configuration. In FIG. 11, the configuration related to the function of supplying drive power to the servomotor or the like is omitted as appropriate.

As shown in FIG. 11, the host controller 89 includes, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 constructed for a specific application such as an ASIC or FPGA, an input device 913, and an output device 915. , a recording device 917 , a drive 919 , a connection port 921 and a communication device 923 . These components are connected via a bus 909 and an input/output interface 911 so as to be able to transmit signals to each other.

The program can be recorded in the ROM 903, RAM 905, recording device 917, etc., for example.

The program is temporarily or non-temporarily (permanently) recorded on a removable recording medium 925 such as a magnetic disk such as a flexible disk, an optical disk such as various CDs, MO disks, and DVDs, and a semiconductor memory. You can also leave it. Such a recording medium 925 can also be provided as so-called package software. In this case, the programs recorded on the recording medium 925 may be read by the drive 919 and recorded on the recording device 917 via the input/output interface 911, bus 909, or the like.

Also, the program can be recorded in, for example, a download site, another computer, another recording device, or the like (not shown). In this case, the program is transferred via a network NW such as LAN or Internet, and the communication device 923 receives this program. The program received by the communication device 923 may be recorded in the recording device 917 via the input/output interface 911, the bus 909, or the like.

Also, the program can be recorded in an appropriate externally connected device 927, for example. In this case, the program may be transferred via an appropriate connection port 921 and recorded in the recording device 917 via the input/output interface 911, bus 909, or the like.

The CPU 901 executes various processes according to the programs recorded in the recording device 917, thereby realizing the operations of the production line 1 described above. At this time, the CPU 901 may, for example, directly read out the program from the recording device 917 and execute it, or load the program once into the RAM 905 and execute it. Furthermore, when the CPU 901 receives a program via the communication device 923 , the drive 919 , or the connection port 921 , for example, the received program may be directly executed without being recorded in the recording device 917 .

In addition, the CPU 901 may perform various processing based on signals and information input from an input device 913 such as a mouse, keyboard, and microphone (not shown) as necessary.

Then, the CPU 901 may output the result of executing the above processing from an output device 915 such as a display device or an audio output device. It may be transmitted via the port 921 or may be recorded in the recording device 917 or the recording medium 925 .

In addition to the methods already described above, the methods according to the above-described embodiments and modifications may be appropriately combined and used. In addition, although not exemplified one by one, the above-described embodiment and each modified example can be implemented with various modifications within the scope not departing from the spirit thereof.

1 production line 3 connected cell (second cell)
3C transport conveyor (third transport device)
3S access space (access part)
5 1st parts supply cell (1st cell, 3rd cell)
5Ca first transport conveyor (first transport device)
5Cb Second transport conveyor (second transport device)
7 Connected cell (second cell)
7Aa first conveyer (conveyor)
7Ab second conveyor (conveyor)
7S access space (access part)
9 First assembly cell (first cell)
9Ca first transport conveyor (first transport device)
9Cb Second transport conveyor (second transport device)
11 Connected cell (second cell)
11Aa first conveyer (conveyor)
11Ab second conveyor (conveyor)
11S access space (access part)
13 second assembly cell (first cell)
13Ca first transport conveyor (first transport device)
13Cb Second transport conveyor (second transport device)
15 Connected cell (second cell)
15Ca first transport conveyor (first transport device)
15Cb Second transport conveyor (second transport device)
15D transport conveyor (third transport device)
15S access space (access part)
17 second component supply cell (first cell, third cell)
17Ca first transport conveyor (first transport device)
17Cb Second transport conveyor (second transport device)
19 Connected cell (second cell)
19Aa first transport conveyor (transport device)
19Ab second conveyor (conveyor)
19S access space (access part)
21 Third Assembly Cell (First Cell)
21Ca first transport conveyor (first transport device)
21Cb Second transport conveyor (second transport device)
21X Third Assembly Cell (First Cell)
23 Connected cell (second cell)
23A transport conveyor (third transport device)
23S access space (access part)
25 third component supply cell (first cell, third cell)
25Ca first transport conveyor (first transport device)
25Cb Second transport conveyor (second transport device)
27 Connected cell (second cell)
27Aa First transport conveyor (transport device)
27Ab second conveyor (conveyor)
27S access space (access part)
29 Fourth Assembly Cell (First Cell)
29Ca first transport conveyor (first transport device)
29Cb Second transport conveyor (second transport device)
31 Connected cell (second cell)
31A transport conveyor (third transport device)
31S Access Space (Access Part)
32 lifting mechanism (moving mechanism)
33 pallet 37 parts container 39 reception port 40 discharge port 43 unmanned guided vehicle 46 lifting mechanism (moving mechanism)
48 lifting mechanism (moving mechanism)
50 lifting mechanism (moving mechanism)
59 Pallet 63 Receiving Port 64 Discharging Port 73 Pallet 77 Receiving Port 78 Discharging Port 92 Servo Motor 94 Positioning Mechanism 97 Substrate Mounting Machine (Automatic Working Machine, Special Working Machine)
99 Robots (automatic working machines)
105 Screw tightening machine (automatic working machine, dedicated working machine)
109 cover fitting machine (automatic working machine, dedicated working machine)
111 push-up mechanism 127 robot (automatic working machine)
ST1 1st work station ST2 2nd work station ST3 3rd work station W1 Part W2 Part W3 Semi-finished product W4 Part W5 Semi-finished product W6 Part W7 Product

Claims (12)

A production line configured by combining a plurality of cells to produce a product,
the plurality of cells,
a plurality of first cells equipped with automatic working machines that perform predetermined work on parts;
At least a housing that is arranged between the plurality of first cells and configured to be movable, and that is capable of repairing the part or discharging the part from the production line in the middle of the production line a second cell;
The first cell is
a first conveying device that conveys a pallet on which the components are placed;
a plurality of work stations, each of which is a stop position where the pallet conveyed by the first conveying device is stopped for a predetermined stop time, and each of which is assigned a predetermined work process executed by the automatic work machine;
a push-up mechanism provided in each of the plurality of work stations and pushing up the pallet by a predetermined amount from the conveying surface of the first conveying device;
has
The second cell is
Having an access part that is an access space for accessing the part so that a worker can repair or remove the part,
The production line is
The number, arrangement, type, and combination of the first cells can be changed, and the second cells can be added, deleted, or changed. passed between cells,
A production line characterized by: A production line configured by combining a plurality of cells to produce a product,
the plurality of cells,
a plurality of first cells equipped with automatic working machines that perform predetermined work on parts;
At least a housing that is arranged between the plurality of first cells and configured to be movable, and that is capable of repairing the part or discharging the part from the production line in the middle of the production line a second cell;
The first cell is
a first conveying device that conveys a pallet on which the components are placed;
a plurality of work stations, each of which is a stop position where the pallet conveyed by the first conveying device is stopped for a predetermined stop time, and each of which is assigned a predetermined work process executed by the automatic work machine;
a positioning mechanism arranged at the work station positioned most upstream in the component transport direction and positioning the pallet at a predetermined position;
a servo motor that drives the first conveying device by position control so as to stop the pallet positioned by the positioning mechanism at the work station on the downstream side;
has
The second cell is
Having an access part that is an access space for accessing the part so that a worker can repair or remove the part,
The production line is
The number, arrangement, type, and combination of the first cells can be changed, and the second cells can be added, deleted, or changed. passed between cells,
A production line characterized by: A production line configured by combining a plurality of cells to produce a product,
the plurality of cells,
a plurality of first cells equipped with automatic working machines that perform predetermined work on parts;
At least a housing that is arranged between the plurality of first cells and configured to be movable, and that is capable of repairing the part or discharging the part from the production line in the middle of the production line a second cell;
The first cell is
a first conveying device that conveys a pallet on which the components are placed;
a plurality of work stations, each of which is a stop position for stopping the pallet transported by the first transport device for a predetermined stop time, and each of which is assigned a predetermined work process executed by the automatic work machine;
The plurality of work stations are
a first work station in which the automatic work machine executes a first work process on the part stopped at the work station;
a second work station in which a second work process is performed by the automatic work machine on the part moved to a location different from the work station;
The second cell is
Having an access part that is an access space for accessing the part so that a worker can repair or remove the part,
The production line is
The number, arrangement, type, and combination of the first cells can be changed, and the second cells can be added, deleted, or changed. passed between cells,
A production line characterized by: The first cell is
the first conveying device that conveys the pallet in a first direction that is a conveying direction of the parts in the production line;
4. The apparatus according to any one of claims 1 to 3, further comprising a second conveying device that conveys the pallet from which the parts have been taken out in a second direction opposite to the first direction. production line. at least one of the second cells,
a third conveying device capable of conveying the pallet in both the first direction and the second direction;
and a moving mechanism for moving the third conveying device between a position corresponding to the first conveying device and a position corresponding to the second conveying device of the first cell. The production line mentioned. The same work process is assigned to two or more of the work stations when the time required for the work process assigned to the work station is longer than the takt time set in the first cell. Item 6. The production line according to any one of items 1 to 5. The first cell is
As the automatic working machine,
at least one dedicated work machine specially designed to perform the predetermined work;
and at least one articulated robot having a plurality of joints that moves the parts between the pallet and the dedicated work machine or between a plurality of the dedicated work machines. The production line according to any one of claims 1 to 6. The first cell is
a third cell that supplies the part to the production line;
The third cell is
a receiving port for receiving a parts container containing the parts from an automatic guided vehicle;
a discharge port for discharging the empty parts container to the automatic guided vehicle;
8. The production line according to any one of claims 1 to 7, wherein the reception port is arranged upstream of the discharge port in the moving direction of the automatic guided vehicle. A method for manufacturing a production line for producing a product, which is configured by combining a plurality of cells,
a first conveying device for conveying a pallet on which the parts are placed, the pallet being conveyed by the first conveying device; a plurality of work stations, each of which is assigned a predetermined work process to be executed by the automatic work machine; from the conveying surface of the first conveying device by a predetermined amount;
A second cell having a housing configured to be movable and capable of repairing the part or ejecting the part from the production line in the middle of the production line, wherein disposing at least one second cell between the plurality of first cells having an access portion, which is an access space for accessing the component so that repair or ejection can be performed;
changing the number, arrangement, type, and combination of the first cells according to fluctuations in the production line;
adding, deleting, or changing the second cell as needed;
A method of manufacturing a production line, comprising: A method for manufacturing a production line for producing a product, which is configured by combining a plurality of cells,
a first conveying device for conveying a pallet on which the parts are placed, the pallet being conveyed by the first conveying device; is a stop position for stopping for a predetermined stop time, and a plurality of work stations each assigned a predetermined work process executed by the automatic work machine; a positioning mechanism arranged in a work station for positioning the pallet at a predetermined position; arranging a plurality of first cells having a driving servomotor;
A second cell having a housing configured to be movable and capable of repairing the part or ejecting the part from the production line in the middle of the production line, wherein disposing at least one second cell between the plurality of first cells having an access portion, which is an access space for accessing the component so that repair or ejection can be performed;
changing the number, arrangement, type, and combination of the first cells according to fluctuations in the production line;
adding, deleting, or changing the second cell as needed;
A method of manufacturing a production line, comprising: A method for manufacturing a production line for producing a product, which is configured by combining a plurality of cells,
a first conveying device for conveying a pallet on which the parts are placed, the pallet being conveyed by the first conveying device; is a stop position for stopping for a predetermined stop time, and has a plurality of work stations each assigned a predetermined work process to be executed by the automatic work machine, wherein the plurality of work stations are the work stations A first work station in which a first work step is performed by the automatic work machine on the stopped part, and a work station by the automatic work machine on the part that has been moved to a place different from the work station. arranging a plurality of first cells, including a second work station where a second work step is performed ;
A second cell having a housing configured to be movable and capable of repairing the part or ejecting the part from the production line in the middle of the production line, wherein disposing at least one second cell between the plurality of first cells having an access portion, which is an access space for accessing the component so that repair or ejection can be performed;
changing the number, arrangement, type, and combination of the first cells according to fluctuations in the production line;
adding, deleting, or changing the second cell as needed;
A method of manufacturing a production line, comprising: deleting the second cell arranged adjacent to the first cell based on the reliability of the predetermined work performed by the automatic work machine in the first cell;
The method for manufacturing a production line according to any one of claims 9 to 11, further comprising:

Images